Compensate for near goal area

diff --git a/ut/rrts.t.cc b/ut/rrts.t.cc
index 261c6170ac28c7034c6aff1d0ed7233ffdf5246e..038f1c9ca2b12587962fe2150aaca3d1749a7604 100644 (file)
--- a/ut/rrts.t.cc
+++ b/ut/rrts.t.cc
@@ -107,7 +107,8 @@ WVTEST_MAIN("goal found zone")
                 n.rotate(n.ccr().x(), n.ccr().y(), a);
                 WVPASS(p.goal_found(n)); // pass near drivable border
         }
-        for (double a = 0; a > -M_PI/2; a -= 0.01) {
+        for (double a = -0.1; a > -M_PI/2; a -= 0.01) {
+                // = -0.1 -- compensate for near goal
                 n = RRTNode(g);
                 n.x(n.x() - 0.1*cos(n.h()));
                 n.y(n.y() - 0.1*sin(n.h()));
@@ -127,7 +128,8 @@ WVTEST_MAIN("goal found zone")
                 n.rotate(n.ccl().x(), n.ccl().y(), a);
                 WVPASS(p.goal_found(n)); // pass near drivable border
         }
-        for (double a = 0; a < M_PI / 2; a += 0.01) {
+        for (double a = 0.1; a < M_PI / 2; a += 0.01) {
+                // = 0.1 -- compensate for near goal
                 n = RRTNode(g);
                 n.x(n.x() - 0.1*cos(n.h()));
                 n.y(n.y() - 0.1*sin(n.h()));
@@ -178,7 +180,8 @@ WVTEST_MAIN("goal found zone")
                 n.rotate(n.ccr().x(), n.ccr().y(), a);
                 WVPASS(p.goal_found(n)); // pass near drivable border
         }
-        for (double a = 0; a < M_PI / 2; a += 0.01) {
+        for (double a = 0.1; a < M_PI / 2; a += 0.01) {
+                // = 0.1 -- compensate for near goal
                 n = RRTNode(g);
                 n.x(n.x() + 0.1*cos(n.h()));
                 n.y(n.y() + 0.1*sin(n.h()));
@@ -198,7 +201,8 @@ WVTEST_MAIN("goal found zone")
                 n.rotate(n.ccl().x(), n.ccl().y(), a);
                 WVPASS(p.goal_found(n)); // pass near drivable border
         }
-        for (double a = 0; a > -M_PI/2; a -= 0.01) {
+        for (double a = -0.1; a > -M_PI/2; a -= 0.01) {
+                // = -0.1 -- compensate for near goal
                 n = RRTNode(g);
                 n.x(n.x() + 0.1*cos(n.h()));
                 n.y(n.y() + 0.1*sin(n.h()));